-(ns angelic.gasplan
+(ns angelic.search.action-set.gasplan
   (:require [edu.berkeley.ai.util :as util]
-            [edu.berkeley.ai.util  [graphs :as graphs] ]
-            [angelic [env :as env]  [hierarchy :as hierarchy] 
-                 [sas :as sas] [sas-analysis :as sas-analysis]])
+            [edu.berkeley.ai.util.graphs :as graphs]
+            [angelic.env :as env]
+            [angelic.env.util :as env-util]
+            [angelic.env.state :as state]
+            [angelic.hierarchy :as hierarchy]
+            [angelic.sas :as sas]
+            [angelic.sas.analysis :as sas-analysis])
   (:import [java.util HashMap]))
 
 

        dtgs          (sas-analysis/domain-transition-graphs sas-problem)
        simple-dtgs   (util/map-vals (fn [dtg] (for [[pval emap] dtg, [eval _] emap] [pval eval])) dtgs)
        acyclic-succ-fn (partial possibly-acyclic-successors (HashMap.) simple-dtgs)]
    (GASPlanEnv 
     (expand-initial-state (env/initial-state sas-problem) child-var-map (goal-action dtgs))
     (fn gasplan-actions [s]
      (when-not (deadlocked? s child-var-map []);)

     reward)))

(defn make-set-parent-var-action [p-var c-var]
  (env-util/make-factored-primitive 
   [::SetParent p-var c-var] 
   {(free-var p-var) true} 
   {(free-var p-var) false (parent-var p-var c-var) true} 
